Cooperative control using multiple manipulators with different command inputs

Kiyotaka Izumi; Keigo Watanabe; Takeshi Hirao; Manabu Misumi

Cooperative control using multiple manipulators with different command inputs

Kiyotaka Izumi, Keigo Watanabe, Takeshi Hirao, Manabu Misumi

Research output: Contribution to journal › Article

Abstract

A cooperative system is constructed by the master/slave method using two manipulators which have different kind of control inputs. One manipulator is a pantagraph-type with two degree-of-freedom (DOF), while the other is an industrial type which has five DOF and a six DOF force sensor. The effectiveness of this scheme is demonstrated via experimental studies.

Original language	English
Pages (from-to)	419-431
Number of pages	13
Journal	Systems Analysis Modelling Simulation
Volume	38
Issue number	2
Publication status	Published - Dec 1 2000
Externally published	Yes

ASJC Scopus subject areas

Modelling and Simulation
Applied Mathematics

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abstract = "A cooperative system is constructed by the master/slave method using two manipulators which have different kind of control inputs. One manipulator is a pantagraph-type with two degree-of-freedom (DOF), while the other is an industrial type which has five DOF and a six DOF force sensor. The effectiveness of this scheme is demonstrated via experimental studies.",

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AU - Watanabe, Keigo

AU - Hirao, Takeshi

AU - Misumi, Manabu

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